{"id":21488783,"url":"https://github.com/khaledsharif/ros-vslam","last_synced_at":"2025-09-01T14:35:45.272Z","repository":{"id":238962978,"uuid":"797062253","full_name":"KhaledSharif/ros-vslam","owner":"KhaledSharif","description":"Quickstart for setting up Visual SLAM in ROS and testing loop closure using Isaac 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Visual Simultaneous Localization and Mapping (VSLAM)\nQuickstart for GPU-Accelerated VSLAM in NVIDIA Isaac Sim (See [Prerequisites](https://nvidia-isaac-ros.github.io/getting_started/isaac_sim/index.html))\n\n### Terminal A: Isaac Sim\n```bash\n# Launch Isaac Sim\n~/.local/share/ov/pkg/isaac_sim-2023.1.1/isaac-sim.sh\n```\n\n### Terminal B: Isaac ROS Visual SLAM Node\n```bash\n# Launch Isaac ROS Docker container and enter terminal\ncd ${ISAAC_ROS_WS}/src/isaac_ros_common \u0026\u0026 scripts/run_dev.sh\n\n# Install Isaac ROS Visual SLAM package for ROS Humble\nsudo apt-get install -y ros-humble-isaac-ros-visual-slam\n\n# Launch Visual SLAM ROS node for Isaac Sim\nros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_isaac_sim.launch.py\n```\n### Terminal C: RVIZ\n```bash\n# Run command from root of this repository\nrviz2 -d ./rviz/isaac_sim.cfg.rviz\n```\n### Terminal D: Command Robot to Move\n```bash\nros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist \"{linear: {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.2}}\"\n```\n### Debugging\n```bash\nros2 topic list\n```\n\n```\n/clock\n/cmd_vel\n/front_3d_lidar/point_cloud\n/front_stereo_camera/imu/data\n/front_stereo_camera/left_rgb/camerainfo\n/front_stereo_camera/left_rgb/image_raw\n/front_stereo_camera/right_rgb/camerainfo\n/front_stereo_camera/right_rgb/image_raw\n/left_stereo_camera/imu/data\n/odom\n/parameter_events\n/rear_stereo_camera/imu/data\n/right_stereo_camera/imu/data\n/rosout\n/tf\n/tf_static\n/visual_slam/imu\n/visual_slam/status\n/visual_slam/tracking/odometry\n/visual_slam/tracking/slam_path\n/visual_slam/tracking/vo_path\n/visual_slam/tracking/vo_pose\n/visual_slam/tracking/vo_pose_covariance\n/visual_slam/vis/gravity\n/visual_slam/vis/landmarks_cloud\n/visual_slam/vis/localizer\n/visual_slam/vis/localizer_loop_closure_cloud\n/visual_slam/vis/localizer_map_cloud\n/visual_slam/vis/localizer_observations_cloud\n/visual_slam/vis/loop_closure_cloud\n/visual_slam/vis/observations_cloud\n/visual_slam/vis/pose_graph_edges\n/visual_slam/vis/pose_graph_edges2\n/visual_slam/vis/pose_graph_nodes\n/visual_slam/vis/slam_odometry\n/visual_slam/vis/velocity\n```","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkhaledsharif%2Fros-vslam","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkhaledsharif%2Fros-vslam","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkhaledsharif%2Fros-vslam/lists"}